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Unread 01-08-2013, 11:06
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AKA: James
FRC #2168 (The Aluminum Falcons)
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Re: Reducing Drift in KOP Gyroscope

Quote:
Originally Posted by Gdeaver View Post
Our team is looking at using a gyro on the bot next year. The gyro we are looking at using walks down .01 degrees every 2 to 3 seconds. How does this compare to other gyro's teams have used? At begin autonomous just zero the gyro accumulator.
That's similar to what I have seen.
If you consider the duration of the autonomous period (15 sec.) and assume a drift of 0.01 degrees every 2 sec. (the worst case of what you reported) you're going to accumulate a total drift of 0.075 degrees. If you can't handle that kind of error, you're doing something wrong.

A good rule of thumb to follow with the gyros, reset/zero them any time you know you are stopped (beginning of autonomous). This will reduce the effect the drift has on your reported heading.
Also, make sure that your sits still after you turn it on (make sure your drive team understands this). The gyro is calibrated during this time and movement will affect the magnitude of drift you see. Try shaking it around when power is applied to the cRIO and see what happens.
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Last edited by otherguy : 01-08-2013 at 12:21. Reason: Fixed typo 0.01 deg/sec and associated math. Thanks Ether.
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